WO2023106041A1 - ハンドリング装置 - Google Patents

ハンドリング装置 Download PDF

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Publication number
WO2023106041A1
WO2023106041A1 PCT/JP2022/042230 JP2022042230W WO2023106041A1 WO 2023106041 A1 WO2023106041 A1 WO 2023106041A1 JP 2022042230 W JP2022042230 W JP 2022042230W WO 2023106041 A1 WO2023106041 A1 WO 2023106041A1
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WO
WIPO (PCT)
Prior art keywords
frame
gripping
handling device
gripping portions
portions
Prior art date
Application number
PCT/JP2022/042230
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
明 角
Original Assignee
株式会社村田製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社村田製作所 filed Critical 株式会社村田製作所
Priority to JP2023566187A priority Critical patent/JP7601260B2/ja
Priority to CN202280068813.7A priority patent/CN118139733A/zh
Publication of WO2023106041A1 publication Critical patent/WO2023106041A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to a handling device, and more particularly to a handling device for gripping a frame-shaped frame.
  • Patent Document 1 discloses a parts aligning device capable of aligning bulk parts.
  • This component aligning device is configured such that a pressing plate can be attached to and detached from a component tray.
  • the pressing plate has a rectangular outer shape when viewed from the top which is substantially the same as the outer shape of the component tray when viewed from the top, and has a rectangular shape when viewed from the top and has a vertically penetrating hole. That is, the pressing plate is formed in a frame shape.
  • a frame such as a frame-shaped pressing plate is gripped using a handling device when it is removed from or attached to the device.
  • a handling device for gripping a frame-shaped frame
  • the present invention has been made in view of such problems, and it is an object of the present invention to provide a handling device that can easily grip frame-shaped frames of different sizes.
  • the handling device of the present invention is a handling device comprising three or more gripping parts for gripping a frame-like frame, wherein the three or more gripping parts are arranged so that lines connecting them form a polygon.
  • the frame is gripped by the gripping portions by changing the distance between the gripping portions so that the gripping portions are inscribed or circumscribed on the frame.
  • FIG. 1 is a perspective view showing a usage state of a handling device according to an embodiment of the present invention
  • FIG. It is a top view which shows the use condition of the handling apparatus which concerns on one Embodiment of this invention. It is a side view which shows the use condition of the handling apparatus which concerns on one Embodiment of this invention. It is a front view which shows the usage condition of the handling apparatus which concerns on one Embodiment of this invention.
  • FIG. 4 is a plan view showing an operating state of the handling device according to one embodiment of the present invention; 1 is a schematic perspective view of a ceramic electronic component; FIG. FIG. 7 is a cross-sectional view taken along the line AA of FIG. 6; FIG.
  • FIG. 3 is a perspective view showing a state in which a ceramic laminate is arranged on a substrate;
  • FIG. 4 is a vertical cross-sectional view showing a state in which the ceramic laminate is arranged on a substrate;
  • FIG. 10 is a longitudinal sectional view showing a state in which the ceramic laminate is rotated 90° from the state in FIG. 9;
  • FIG. 4 is a vertical cross-sectional view showing a state in which a first conductive paste layer is formed on a ceramic laminate;
  • FIG. 12 is a longitudinal sectional view showing a state in which the ceramic laminate is rotated 180° from the state in FIG. 11;
  • FIG. 4 is a vertical cross-sectional view showing a state in which a second conductive paste layer is formed on the ceramic laminate; It is a front view which shows the usage condition of the handling apparatus which concerns on other embodiment of this invention.
  • FIG. 1 to 4 are diagrams showing a usage state of a handling device according to one embodiment of the present invention, wherein FIG. 1 is a perspective view, FIG. 2 is a plan view, FIG. 3 is a left side view, and FIG. 4 is a partial view. is a front view showing the cross section.
  • FIG. 5 is a plan view showing the operating state of the handling device of this embodiment.
  • a handling device 1 of the present embodiment is provided, for example, in a multi-joint robot (not shown), and includes a plurality of gripping portions 4 for gripping a member 3 having a frame-shaped frame 2, and a first member 5 that can be approached and separated. and a second member 6 , the first member 5 and the second member 6 being provided on the support 7 .
  • the support 7 has an attachment portion 8 to the tip of the arm of the robot, a body portion 9 on which the attachment portion 8 is provided, and a pair of support rod portions 10 and 10 provided on the body portion 9 .
  • the mounting portion 8 has a substantially rectangular plate shape in a front view with the vertical direction as the longitudinal direction.
  • the mounting portion 8 is fixed to the tip of the arm of the robot with a bolt or the like with the plate surface facing forward and backward.
  • the robot is an articulated robot.
  • the robot includes an arm having a plurality of link members and joints that rotatably connect adjacent link members to each other, and rotates the joints by driving a motor provided at each joint. to rotate the link material.
  • the attachment portion 8 is provided at the tip portion of the link material located on the most tip side.
  • the main body part 9 has a first plate member 11 and a second plate member 12 which are separated vertically, and a third plate member 13 and a fourth plate member 14 which connect the first plate member 11 and the second plate member 12 .
  • the first plate member 11 has a substantially rectangular plate shape in a plan view with the front-rear direction as the longitudinal direction, and is arranged with the plate surface facing up and down.
  • the second plate member 12 is a plate member having a substantially rectangular plate shape in plan view and having a front-to-rear length shorter than the front-to-rear length of the first plate member 11 .
  • the second plate member 12 is arranged with its plate surface facing up and down.
  • the third plate member 13 and the fourth plate member 14 have a substantially rectangular plate shape when viewed from the front, and are arranged with their plate surfaces facing forward and backward.
  • the third plate member 13 is provided so as to bridge the rear end portion of the first plate member 11 and the rear end portion of the second plate member 12 .
  • the rear end portion of the first plate member 11 and the upper end portion of the third plate member 13 are fixed with bolts or the like, and the rear end portion of the second plate member 12 and the lower end portion of the third plate member 13 are fixed with bolts or the like.
  • the fourth plate member 14 is provided on the front side of the third plate member 13 so as to span the first plate member 11 and the second plate member 12 .
  • the front end portion of the second plate member 12 and the lower end portion of the fourth plate member 14 are fixed with bolts or the like, and the upper end portions of the first plate member 11 and the fourth plate member 14 are fixed with bolts or the like.
  • the mounting portion 8 described above is provided at the rear end portion of the main body portion 9 assembled in this way.
  • the mounting portion 8 is fixed to the main body portion 9 with bolts or the like in a state in which the lower end portion of the front surface is superimposed on the rear surface of the third plate member 13 .
  • the first plate member 11 has an extension portion that extends forward from the second plate member 12 .
  • Holding portions 15 , 15 for holding the pair of support rod portions 10 , 10 on the main body portion 9 are provided on the extending portion so as to be separated from each other in the front-rear direction. Each of the holding portions 15 , 15 is fixed to the lower surface of the first plate member 11 with a bolt or the like.
  • the pair of support bar portions 10, 10 are round bar-shaped.
  • One support rod portion 10 of the pair of support rod portions 10, 10 is provided in a holding portion 15 positioned on the front side.
  • One support rod portion 10 is fixed to the holding portion 15 while passing through the holding portion 15 in the left-right direction.
  • the other support rod portion 10 is provided in a holding portion 15 located on the rear side.
  • the other support rod portion 10 is fixed to the holding portion 15 while passing through the holding portion 15 in the left-right direction. In this way, the pair of support rods 10, 10 are held by the main body 9 while being separated from each other in the front-to-rear direction, with the axial direction along the left-right direction.
  • connection member 16 that connects the first member 5 and the support rod portion 10 is provided on the left portion of each of the pair of support rod portions 10, 10, and a connection member 16 that connects the first member 5 and the support rod portion 10 is provided on each left portion of the pair of support rod portions 10, 10.
  • a connection member 17 that connects the second member 6 and the support rod portion 10 is provided.
  • the connection member 17 has a plate-like portion 18 and a bush 19 .
  • the plate-like portion 18 has a horizontal piece 20 and a vertical piece 21 .
  • the horizontal piece 20 has a substantially rectangular plate shape in a plan view, and is arranged with the plate surface facing up and down.
  • the vertical piece 21 has a substantially rectangular plate shape when viewed from the side, and is arranged with the plate surface facing left and right.
  • the vertical piece 21 is provided on the left end of the horizontal piece 20 so as to extend upward.
  • the horizontal piece 20 and the vertical piece 21 may be separate or integrated.
  • Bushing 19 is typically an oilless bushing. The bushing 19 is provided on the vertical piece 21 of the plate-like portion 18 while passing through a through hole formed in the vertical piece 21 .
  • connection member 16 is held by the support rod portion 10 on the left side of the support rod portion 10 with the support rod portion 10 passing through the bush 19 .
  • connection member 16 is held by the support rod portion 10
  • the horizontal piece 20 of the connection member 16 extends leftward from the vertical piece 21 .
  • the connection member 17 is held by the support rod portion 10 on the right side of the support rod portion 10 with the support rod portion 10 passing through the bush 19 .
  • the connection member 17 is held by the support rod portion 10 , the horizontal piece 20 of the connection member 17 extends rightward from the vertical piece 21 .
  • the connection members 16 and 17 can slide in the left-right direction along the support rod portion 10 .
  • the first member 5 and the second member 6 are connected to the support rod portion 10 by these connecting members 16 and 17 .
  • the first member 5 has a substantially rectangular plate-like shape in a plan view with the front-rear direction as the longitudinal direction, and is arranged with the plate surface facing up and down.
  • the front end face of the first member 5 is formed so as to be inclined rearward as it goes rightward. That is, the front end portion of the first member 5 has a substantially right triangle shape.
  • Two mounting holes 22 and 23 for mounting the grip portion 4 are formed through the front end portion of the first member 5 vertically.
  • the two mounting holes 22 and 23 are formed in the acute-angled portion of the substantially right-angled triangular front end portion of the first member 5 . Specifically, one mounting hole 22 of the two mounting holes 22 and 23 is formed at the tip of the front end of the first member 5 .
  • the other mounting hole 23 is formed obliquely to the right rear of the one mounting hole 22 at the front end portion of the first member 5 .
  • two mounting holes 24 and 25 for mounting the grip portion 4 are formed through the first member 5 vertically.
  • One mounting hole 24 of the two mounting holes 24 and 25 is formed at the rear left corner of the first member 5 .
  • the other mounting hole 25 is formed at the rear end portion of the first member 5 and obliquely forward right of the one mounting hole 24 .
  • a grip portion 4a is provided in one attachment hole 22 at the front end portion of the first member 5 and one attachment hole 24 at the rear end portion of the first member 5 .
  • the grip portion 4a is in the shape of a round bar, and is arranged so that its axial direction extends along the vertical direction.
  • the grip portion 4a has a reduced diameter at the upper end, and is formed with a large diameter portion 26 and a small diameter portion 27 in order from the lower end side.
  • the outer peripheral surface of the small diameter portion 27 is threaded.
  • the grip portion 4a having such a configuration is detachably attached to the first member 5 by screwing a nut 28 into the small diameter portion 27 while the small diameter portion 27 is passed through the mounting holes 22 and 24 from below. be done.
  • the other mounting hole 23 at the front end of the first member 5 and the other mounting hole 25 at the rear end of the first member 5 are provided with grips 4b.
  • the grip portion 4b is shaped like a round bar, and is arranged so that its axial direction extends along the vertical direction.
  • the grip portion 4b has a reduced diameter at the upper end, and is formed with a large diameter portion 29 and a small diameter portion 30 in order from the lower end side.
  • the vertical length of the large-diameter portion 29 is shorter than the vertical length of the large-diameter portion 26 of the grip portion 4 a attached to one of the mounting holes 22 and 24 of the first member 5 .
  • the outer peripheral surface of the small diameter portion 30 is threaded.
  • the grip portion 4b having such a configuration is detachably attached to the first member 5 by screwing a nut 31 into the small diameter portion 30 while the small diameter portion 30 is passed through the mounting holes 23 and 25 from below. be done.
  • the position of the lower end of the gripping portion 4b attached to the first member 5 is located above the position of the lower end of the gripping portion 4a attached to the first member 5 .
  • the first member 5 is connected to the left side of the pair of support rods 10, 10 via the connecting member 16.
  • the first member 5 and the connecting member 16 are arranged such that the axial direction of the mounting holes 22, 23, 24, 25 are along the vertical direction, and the connecting members 16, 16 are separated from the upper surface of the first member 5 in the front-rear direction.
  • the lower surfaces of the horizontal pieces 20, 20 are superimposed and connected by bolts or the like.
  • the connection member 16 is slidable in the left-right direction with respect to the support rod portion 10 . Therefore, the first member 5 can slide in the left-right direction along the support rod portion 10 .
  • the second member 6 has a substantially rectangular plate-like shape in a plan view with the front-rear direction as the longitudinal direction, and is arranged with the plate surface facing up and down.
  • the front end surface of the second member 6 is formed so as to be inclined rearward as it goes leftward. That is, the front end portion of the second member 6 has a substantially right triangle shape.
  • Two mounting holes 32 and 33 for mounting the grip portion 4 are formed through the front end portion of the second member 6 vertically.
  • the two mounting holes 32 and 33 are formed at the acute angle portion of the substantially right triangular front end portion of the second member 6 .
  • one mounting hole 32 of the two mounting holes 32 and 33 is formed at the tip of the front end of the second member 6 .
  • the other mounting hole 33 is formed obliquely rearward left of the one mounting hole 32 at the front end portion of the second member 6 .
  • two mounting holes 34 and 35 for mounting the gripping portion 4 are formed through vertically.
  • One mounting hole 34 of the two mounting holes 34 and 35 is formed at the rear right corner of the second member 6 .
  • the other mounting hole 35 is formed at the rear end portion of the second member 6 and diagonally leftwardly forward of the one mounting hole 34 .
  • a grip portion 4 c is provided in one mounting hole 32 at the front end of the second member 6 and one mounting hole 34 at the rear end of the second member 6 .
  • the gripping portion 4 c has the same configuration as the gripping portion 4 a provided in one mounting hole 22 , 24 of the first member 5 . That is, the grip portion 4c is formed with a large-diameter portion 26 and a small-diameter portion 27. With the small-diameter portion 27 passed through the mounting holes 32 and 34 from below, a nut 28 is attached to the threaded small-diameter portion 27. is detachably attached to the second member 6 by screwing.
  • the other mounting hole 33 at the front end of the second member 6 and the other mounting hole 35 at the rear end of the second member 6 are provided with grips 4d.
  • This gripping portion 4d has the same configuration as the gripping portion 4b provided in the other mounting holes 23 and 25 of the first member 5 . That is, the grip portion 4d is formed with a large diameter portion 29 and a small diameter portion 30. With the small diameter portion 30 passing through the mounting holes 33 and 35 from below, a nut 31 is attached to the threaded small diameter portion 30. is detachably attached to the second member 6 by screwing.
  • the vertical length of the large diameter portion 29 of the grip portion 4 d is shorter than the vertical length of the large diameter portion 26 of the grip portion 4 c attached to one of the mounting holes 32 and 34 of the second member 6 . Therefore, the position of the lower end of the gripping portion 4d attached to the second member 6 is positioned above the position of the lower end of the gripping portion 4c attached to the second member 6 .
  • the second member 6 is connected to the right side of the pair of support rods 10, 10 via the connecting member 17.
  • the second member 6 and the connecting member 17 are arranged such that the axial direction of the mounting holes 32, 33, 34, 35 is along the vertical direction, and the upper surface of the second member 6 is separated from the connecting members 17, 17 in the front-rear direction.
  • the lower surfaces of the horizontal pieces 20, 20 are superimposed and connected by bolts or the like.
  • the connection member 17 is slidable in the left-right direction with respect to the support rod portion 10 . Therefore, the second member 6 can slide in the left-right direction along the support rod portion 10 .
  • the grip portions 4a, 4a provided in one mounting holes 22, 24 of the first member 5 and the second
  • the four gripping portions 4a, 4a, 4c, 4c made up of the gripping portions 4c, 4c provided in the mounting holes 32, 34 on one side of the member 6 are arranged so that the lines connecting them form a quadrangle in plan view. ing.
  • two adjacent gripping portions 4a, 4a are connected by the first member 5 as described above, and the other two adjacent gripping portions 4c, 4c are connected by the second member 6 as described above.
  • the gripping portion 4a at the front end of the first member 5 and the gripping portion at the front end of the second member 6 4c and the distance between the gripping portion 4a at the rear end of the first member 5 and the gripping portion 4c at the rear end of the second member 6 can be increased or decreased.
  • the first member 5 and the second member 6 are separated from each other so that each of the two adjacent gripping portions 4a and 4a and each of the other two adjacent gripping portions 4c and 4c are separated from each other. It is possible to vary the distance between
  • the four gripping portions 4b, 4b, 4d, 4d made up of the gripping portions 4d, 4d provided in the other mounting holes 33, 35 of the member 6 are located inside the four gripping portions 4a, 4a, 4c, 4c described above. placed in Also, the four gripping portions 4b, 4b, 4d, 4d are arranged so that lines connecting them form a quadrangle in plan view.
  • two adjacent gripping portions 4b, 4b, 4d, and 4d are connected by the first member 5 as described above, and the other two adjacent gripping portions 4d, 4d are connected. are connected by the second member 6 as described above.
  • the gripping portion 4b at the front end of the first member 5 and the gripping portion at the front end of the second member 6 4d, and between the gripping portion 4b at the rear end of the first member 5 and the gripping portion 4d at the rear end of the second member 6 can be increased or decreased.
  • the first member 5 and the second member 6 are separated from each other so that each of the two adjacent gripping portions 4b and 4b and each of the other two adjacent gripping portions 4d and 4d are separated from each other. It is possible to vary the distance between
  • a driving portion 36 for sliding the first member 5 and the second member 6 is provided in the body portion 9 in order to bring the first member 5 and the second member 6 closer to each other.
  • the drive unit 36 has a drive source (not shown) such as a motor.
  • the driving source is connected to the first member 5 via the first connecting member 37 and connected to the second member 6 via the second connecting member 38 .
  • the first connecting member 37 and the second connecting member 38 can be slid to the left and right.
  • the member 5 and the second member 6 connected to the second connecting member 38 can be closely spaced apart.
  • the handling device 1 of this embodiment is used when manufacturing the ceramic electronic component 39, for example, while being mounted on the robot as described above.
  • 6 and 7 are diagrams showing a ceramic electronic component, FIG. 6 being a schematic perspective view, and FIG. 7 being a sectional view taken along line AA of FIG. 8 to 13 are diagrams showing the manufacturing process of the ceramic electronic component in chronological order.
  • the ceramic electronic component 39 includes a substantially rectangular parallelepiped ceramic body 40 .
  • the ceramic body 40 is made of an appropriate ceramic material. Inside the ceramic element body 40, the first internal electrodes 41 and the second internal electrodes 42 are arranged so that parts of the adjacent first internal electrodes 41 and second internal electrodes 42 face each other via the ceramic layers. be done.
  • a first external electrode 44 connected to the first internal electrode 41 is formed on one end surface 43 of the ceramic body 40 .
  • a second external electrode 46 connected to the second internal electrode 42 is formed on the other end surface 45 of the ceramic body 40 .
  • the first internal electrode 41, the second internal electrode 42, the first external electrode 44 and the second external electrode 46 are made of suitable conductive materials.
  • a ceramic laminate 47 is formed.
  • an internal electrode forming seed conductive paste is printed in a predetermined pattern on the ceramic green sheets by screen printing or the like to form an internal electrode pattern.
  • ceramic green sheets without internal electrode patterns and ceramic green sheets with internal electrode patterns are laminated to form a mother laminate. Then, a plurality of ceramic laminates 47 are cut out from the mother laminate.
  • a plurality of cut ceramic laminates 47 are placed on a base 48 at intervals.
  • the surface of the base 48 has adhesive force.
  • the base 48 has a substrate body 49 and an adhesive elastic layer 50 provided on the surface of the substrate body 49 . Therefore, the ceramic laminate 47 adheres to the adhesive elastic layer 50 when placed on the substrate 48 .
  • a slider (not shown) is used to rotate the ceramic laminate 47 placed on the base 48 by 90°.
  • the ceramic laminate 47 has one end face 43 facing upward, and the other end face 45 adheres to the adhesive elastic layer 50 of the substrate 48 .
  • a conductive paste to one end surface 43 of the ceramic laminate 47, a first conductive paste layer 51 is formed on one end surface 43 of the ceramic laminate 47 as shown in FIG. be.
  • the slider described above is used to rotate the ceramic laminate 47 on which the first conductive paste layer 51 is formed by 180°.
  • the ceramic laminate 47 has the first conductive paste layer 51 adhered to the adhesive elastic layer 50 of the base 48 with the other end surface 45 facing upward.
  • a second conductive paste layer 52 is formed on the other end surface 45 of the ceramic laminate 47 as shown in FIG. be.
  • the ceramic laminate 47, the first conductive paste layer 51 and the second conductive paste layer 52 are fired. Thereby, the ceramic electronic component 39 including the ceramic body 40, the first internal electrode 41, the second internal electrode 42, the first external electrode 44 and the second external electrode 46 is produced.
  • the handling device 1 of this embodiment is a device that grips a base 48 used when manufacturing a ceramic electronic component 39 .
  • the base 48 is the member 3 having the frame-shaped frame 2 described above.
  • the base 48 has a frame-like frame 2 and a mounting portion 53 composed of the substrate main body 49 and the adhesive elastic layer 50 described above.
  • the frame 2 has a frame-shaped horizontal portion 54 and a frame-shaped vertical portion 55 .
  • the horizontal portion 54 has a plate shape and is arranged with the plate surface facing up and down.
  • the vertical portion 55 is plate-shaped and stands on the outer edge of the horizontal portion 54 . Note that the horizontal portion 54 and the vertical portion 55 may be separate or integrated.
  • a mounting portion 53 composed of the substrate body 49 and the adhesive elastic layer 50 is provided so as to close the opening formed inside the frame 2 having such a configuration. Therefore, the base 48 has a frame-like frame 2 and is made of a plate member having an adhesive surface.
  • the mounting portion 53 is composed of the substrate main body 49 and the adhesive elastic layer 50, but may be composed of only the adhesive elastic layer. Further, in this embodiment, the frame 2 and the board body 49 may be separate bodies or may be integrated.
  • the first member 5 and the second member 6 are slid left and right by the driving source to change the distance between the gripping portions 4a and 4c.
  • the holding portions 4a and 4c are inscribed in the inner surface of the vertical portion 55 of the frame 2.
  • the gripping portion 4a contacts the inner surface of the left vertical portion 55 of the frame 2 while pressing leftward, and the gripping portion 4c presses the inner surface of the right vertical portion 55 of the frame 2 rightward.
  • the gripping portions 4a, 4a, 4c, and 4c are inscribed in the frame 2 in this way, so that the frame 2 is gripped by the gripping portions 4a, 4a, 4c, and 4c.
  • the base 48 By driving the arm of the robot while the frame 2 is gripped by the gripping portions 4a, 4a, 4c, and 4c, the base 48 can be moved to an appropriate position.
  • the plurality of gripping portions 4 are arranged so that lines connecting them form a polygon in plan view.
  • the frame 2 can be gripped by the gripping portion 4 by changing the distance between the plurality of gripping portions 4, 4 arranged in this way and inscribing the gripping portion 4 on the frame 2 of the base 48. . Therefore, members having frame-like frames of different sizes can be easily gripped.
  • two adjacent gripping portions 4a, 4a among the four gripping portions 4a, 4a, 4c, 4c are connected by the first member 5, and the other adjacent gripping portions 4a, 4a are connected to each other. are connected by the second member 6 .
  • the gripping portions 4a, 4a provided on the first member 5 and the gripping portion 4c provided on the second member 6 can be separated by moving the first member 5 and the second member 6 closer to each other. , 4c can be varied. Therefore, the frame-shaped frame 2 can be easily gripped with a simple structure. A similar effect can be obtained in the case of four gripping portions 4b, 4b, 4d, and 4d.
  • the four gripping portions 4a, 4a, 4c, and 4c located outside and the four gripping portions located inside the four gripping portions 4a, 4a, 4c, and 4c 4b, 4b, 4d, 4d. Therefore, frames of more sizes can be supported.
  • first member 5 and the second member 6 are detachable with respect to the main body portion 9 . Therefore, it is possible to use first members and second members selected from a plurality of types of first members and second members having different sizes and shapes according to the size of the frame and the number of attachments of the gripping portions.
  • FIG. 14 is a front view showing a usage state of a handling device according to another embodiment of the present invention.
  • a handling device 1 according to another embodiment of the invention will be described.
  • the characteristic portions thereof will be described, and the description of the matters described in the above embodiments will be omitted.
  • the handling device 1 of this embodiment differs from the above embodiment in the configuration of the grip portion 4 .
  • the grip portion 4 has an engaging portion 56 having a larger diameter than the large diameter portion 26 .
  • An annular groove 57 is formed in the outer peripheral surface of the engaging portion 56 along the circumferential direction. The groove 57 opens radially outward of the engaging portion 56 .
  • the base 58 gripped by the handling device 1 of this embodiment has a different frame configuration from the base 48 of the previous embodiment.
  • the base 58 has a frame-shaped frame 59 made of a plate material arranged with its plate surface facing up and down, and the above-described mounting portion 53 closing the opening of the frame 59 .
  • the first member 5 and the second member 6 are slid left and right by the driving source to change the distance between the gripping portions 4,4.
  • the gripping portion 4 is brought into contact with the outer edge portion of the frame 59 .
  • the outer edge of the frame 59 is engaged with the groove 57 formed in the grip portion 4 . Therefore, the frame 59 is gripped by the gripping portion 4 by circumscribing the gripping portion 4 to the frame 59 while the frame 59 is engaged with the groove 57 of the gripping portion 4 .
  • the frame 59 is engaged with the groove 57 of the gripping portion 4 when the gripping portion 4 is circumscribed by the frame 59 . Therefore, the frame 59 can be more reliably gripped by the gripper 4 .
  • the four gripping portions 4, 4, 4, 4 are configured to grip the frames 2, 59, but the present invention is not limited to this. , three or more gripping portions may grip the frame. In this case, the configurations of the main body portion 9, the first member 5, the second member 6, etc. are appropriately changed.
  • one of the four gripping portions 4a, 4a, 4c, 4c and the other four gripping portions 4b, 4b, 4d, 4d are formed in a rod shape.
  • the four grips or the other four grips may be the grips 4 of the embodiment shown in FIG.
  • the handling device 1 can have excellent versatility.
  • the frame 2 is gripped by the gripping portions 4a, 4a, 4c, and 4c by the four gripping portions 4a, 4a, 4c, and 4c being inscribed in the frame 2.
  • the frame 2 may be gripped by the four gripping portions circumscribing the frame 2 . The same applies to the four grips 4b, 4b, 4d and 4d.
  • the frame 59 is gripped by the gripping portions 4, 4, 4, 4 by circumscribing the four gripping portions 4, 4, 4, 4 to the frame 59.
  • the frame 59 may be gripped by the gripping portions by having the two gripping portions inscribed in the frame 59 .
  • the frame is configured so that the four gripping portions can be inscribed while engaging with the grooves.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
PCT/JP2022/042230 2021-12-08 2022-11-14 ハンドリング装置 WO2023106041A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2023566187A JP7601260B2 (ja) 2021-12-08 2022-11-14 ハンドリング装置
CN202280068813.7A CN118139733A (zh) 2021-12-08 2022-11-14 操作装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021-199235 2021-12-08
JP2021199235 2021-12-08

Publications (1)

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WO2023106041A1 true WO2023106041A1 (ja) 2023-06-15

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JP (1) JP7601260B2 (enrdf_load_stackoverflow)
CN (1) CN118139733A (enrdf_load_stackoverflow)
WO (1) WO2023106041A1 (enrdf_load_stackoverflow)

Citations (9)

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